Most downloaded article for an year in academia - International Journal of Chaos, Control, Modelling and Simulation (IJCCMS)
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This document summarizes a research paper that compares different controllers for stabilizing a rotary inverted pendulum (RIP) system. The paper tests PID, LQR, fuzzy logic, and H-infinity controllers on a RIP system in MATLAB Simulink. It also tests these same four controllers on a real-world RIP test bed. The controllers are then compared based on their performance.
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![Most Viewed Article for
an year in Academia
International Journal of Chaos, Control,
Modeling and Simulation (IJCCMS)
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This document summarizes a research paper that compares different controllers for stabilizing a rotary inverted pendulum (RIP) system. The paper tests PID, LQR, fuzzy logic, and H-infinity controllers on a simulated RIP model in Matlab Simulink and on a real RIP testbed. The controllers are evaluated and compared based on their performance stabilizing the inverted pendulum.
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This document summarizes a research paper that compares different controllers for stabilizing a rotary inverted pendulum (RIP) system. The paper tests PID, LQR, fuzzy logic, and H-infinity controllers on a simulated RIP model in Matlab Simulink and on a real RIP testbed. The controllers are evaluated and compared based on their performance stabilizing the inverted pendulum.
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In this paper, fault tolerant synchronization of chaotic gyroscope systems versus external disturbances via Lyapunov rule-based fuzzy control is investigated. Taking the general nature of faults in the slave system into account, a new synchronization scheme, namely, fault tolerant synchronization, is proposed, by which the synchronization can be achieved no matter whether the faults and disturbances occur or not. By making use of a slave observer and a Lyapunov rule-based fuzzy control, fault tolerant synchronization can be achieved. Two techniques are considered as control methods: classic Lyapunov-based control and Lyapunov rule-based fuzzy control. On the basis of Lyapunov stability theory and fuzzy rules, the nonlinear controller and some generic sufficient conditions for global asymptotic synchronization are obtained. The fuzzy rules are directly constructed subject to a common Lyapunov function such that the error dynamics of two identical chaotic motions of symmetric gyros satisfy stability in the Lyapunov sense. Two proposed methods are compared. The Lyapunov rule-based fuzzy control can compensate for the actuator faults and disturbances occurring in the slave system. Numerical simulation results demonstrate the validity and feasibility of the proposed method for fault tolerant synchronization.
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Research Summary
- The document discusses the research interests and work of Aditya KSKV, including bio-inspired robots, reconfigurable robots, kinematics, dynamics and control, compliant mechanisms, soft actuators and sensors.
- Specific projects discussed include the kinematic analysis of a novel 3-RSR mechanism for finger tip haptics, the development and characterization of miniaturized pneumatic artificial muscles, and the design of an endoscopic surgical device using these muscles.
- References and publications are provided for further reading on topics like the modeling and control of pneumatic artificial muscles, a flexible micro actuator for grippers, and a process for biologically inspired design.
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Most downloaded article for an year in academia - International Journal of Chaos, Control, Modelling and Simulation (IJCCMS)
- 1. Most Viewed Article for an year in Academia International Journal of Chaos, Control, Modeling and Simulation (IJCCMS) http://airccse.org/journal/ijccms/index.html ISSN: 2319 - 5398 [Online]; 2319 - 8990 [Print]
- 2. A COMPARATIVE STUDY OF CONTROLLERS FOR STABILIZING A ROTARY INVERTED PENDULUM Velchuri Sirisha and Dr. Anjali. S. Junghare Electrical Engineering Department, Visvesvaraya National Institute of Technology, Nagpur, India ABSTRACT This paper describes comparative study of various controllers on Rotary Inverted Pendulum (RIP). PID, LQR, FUZZY LOGIC and H∞ controllers are tried on RIP in MatLab Simulink. The same four controllers have been tested on test bed of RIP system the controllers are compared from various aspects. The controllers in simulink are compared with the controllers in real time. KEYWORDS Fuzzy Logic, H∞, LQR, PID, RIP For More Details : http://airccse.org/journal/ijccms/papers/3214ijccms01.pdf Volume Link : http://airccse.org/journal/ijccms/current2014.html
- 3. REFERENCES [1] Quanser Inc.SRV02 Exp7 Inverted Pendulum.pdf.2003 [2] Quanser Inc.SRV02 Exp1 position control.pdf.2003 [3] T.Sugie and K. Fujimoto, “Controller design for an inverted pendulum based on approximate linearization,” Int. J. of Robust and Nonlinear control, vol. 8, no 7, pp. 585-597, 1998. [4] Katebi M R and M.H. Moradi (2001):“Predictive PID Controllers”. IEE Proc. Control Theory Application, Vol. 148, No. 6; November 2001, pp. 478-487. [5] K. Ang, G. Chong, and Y. Li, “PID control system analysis, design and technology,” IEEE Trans.Control System Technology, vol. 13, pp. 559-576, July 2005. [6] Md. Akhtaruzzaman and A. A. Shafie, “Modeling and Control of a Rotary Inverted Pendulum Using Various Methods, Comparative Assessment and Result Analysis”, Proceedings of the 2010 IEEE, International Conference on Mechatronics and Automation, August 4-7, 2010, Xi'an, China [7] Chen Wei Ji, Fang Lei, Lei Kam Kin, I997 IEEE International Conference on Intelligent Processing System October 28 - 31.“Fuzzy Logic Controller for an Inverted Pendulum System” [8] Muskinja, N. and B. Tovornik, 2006. “Swinging up and stabilization of a real Inverted pendulum”. IEEE Trans. Ind. Elect., 53. DOI: 10.1109/TIE.2006.870667 [9] Ximena CeliaM´endez Cubillos and Luiz Carlos Gadelha de Souza, 2009.“Using of H- Infinity Control Method in Attitude Control System of Rigid-Flexible Satellite”, Hindawi Publishing Corporation Mathematical Problems in Engineering Volume 2009, Article ID 173145, 9 pages doi:10.1155/2009/173145